Research
Research
Research
Research
124+ open-access research outputs.
We consider the energy-optimal control problem for double-integrator systems subject to state and control constraints, with fixed terminal time and free terminal speed. When the constraints become act…
Mechanical vibration monitoring often requires high sampling rates and generates large data volumes, posing challenges for storage, transmission, and power efficiency. Compressive Sensing (CS) offers …
Extracellular DNA accumulation in recirculating bioprocesses inhibits microbial growth and reduces productivity. We consider a continuous bioreactor with a recirculating loop and an electrophoretic fi…
Advancements in foundation models have catalyzed research in Embodied AI to develop interactive agents capable of environmental reasoning and interaction. Developing such agents requires diverse, larg…
Deep learning models like U-Net and its variants, have established state-of-the-art performance in edge detection tasks and are used by Generative AI services world-wide for their image generation mod…
In this study, we evaluated four binarization methods. Locality-Sensitive Hashing (LSH), Iterative Quantization (ITQ), Kernel-based Supervised Hashing (KSH), and Supervised Discrete Hashing (SDH) on t…
This paper develops an embedding-based approach to solve switched optimal control problems (SOCPs) with an arbitrary number of subsystems. Initially, the discrete switching signal is represented by a …
Brain-body co-evolution enables animals to develop complex behaviors in their environments. Inspired by this biological synergy, embodied co-design (ECD) has emerged as a transformative paradigm for c…
We address the problem of optimal evasion in a planar endgame engagement, where a target with bounded lateral acceleration seeks to avoid interception by a missile guided by a linear feedback law. Con…
Generating hand grasps with language instructions is a widely studied topic that benefits from embodied AI and VR/AR applications. While transferring into hand articulatied object interaction (HAOI), …
Conditional differential entropy provides an intuitive measure for relatively ranking time-series complexity by quantifying uncertainty in future observations given past context. However, its direct c…
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used t…
LiDAR-Inertial Odometry (LIO) is a foundational technique for autonomous systems, yet its deployment on resource-constrained platforms remains challenging due to computational and memory limitations. …
This communication on collision avoidance with unexpected obstacles is motivated by some critical appraisals on reinforcement learning (RL) which "requires ridiculously large numbers of trials to lear…
This work presents a novel reinforcement learning (RL) algorithm based on Y-wise Affine Neural Networks (YANNs). YANNs provide an interpretable neural network which can exactly represent known piecewi…
Dementia (DEM) is a growing global health challenge, underscoring the need for early and accurate diagnosis. Electroencephalography (EEG) provides a non-invasive window into brain activity, but conven…
Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior works primarily study …
This paper presents an auto-optimization control framework for wave energy converters (WECs) to maximize energy generation under unknown and changing ocean conditions. The proposed control framework c…
Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction "Hang a mug on the mug tree" may involve multiple valid actions if the…
In autonomous underwater missions, the successful completion of predefined paths mainly depends on the ability of underwater vehicles to recognise their surroundings. In this study, we apply the conce…
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